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   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
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   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_6810188cd2ea088282d3e2870d3170c6.html">jps_planner</a></li><li class="navelem"><a class="el" href="dir_e3f696d4d044a5899bff98f450f72b77.html">distance_map_planner</a></li>  </ul>
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<div class="title">graph_search.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef DMP_GRAPH_SEARCH_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define DMP_GRAPH_SEARCH_H</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;boost/heap/d_ary_heap.hpp&gt;</span>      <span class="comment">// boost::heap::d_ary_heap</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span>                         <span class="comment">// std::shared_ptr</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span>                         <span class="comment">// std::numeric_limits</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span>                         <span class="comment">// std::vector</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span>                  <span class="comment">// std::unordered_map</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceDMP.html">DMP</a></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structDMP_1_1compare__state.html">   19</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structDMP_1_1compare__state.html">compare_state</a></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordtype">bool</span> operator()(T a1, T a2)<span class="keyword"> const</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keywordtype">double</span> f1 = a1-&gt;g + a1-&gt;h;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keywordtype">double</span> f2 = a2-&gt;g + a2-&gt;h;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <span class="keywordflow">if</span>( ( f1 &gt;= f2 - 0.000001) &amp;&amp; (f1 &lt;= f2 +0.000001) )</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <span class="keywordflow">return</span> a1-&gt;g &lt; a2-&gt;g; <span class="comment">// if equal compare gvals</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keywordflow">return</span> f1 &gt; f2;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    }</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  };</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">struct </span><a class="code" href="structDMP_1_1State.html">State</a>; <span class="comment">// forward declaration</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"></span>  <span class="keyword">using</span> StatePtr = std::shared_ptr&lt;State&gt;;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">using</span> priorityQueue = boost::heap::d_ary_heap&lt;StatePtr, boost::heap::mutable_&lt;true&gt;,</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                        boost::heap::arity&lt;2&gt;, boost::heap::compare&lt; compare_state&lt;StatePtr&gt; &gt;&gt;;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html">   40</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structDMP_1_1State.html">State</a></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  {</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#a8649d015f093240ff54d8767c7d7a474">   43</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structDMP_1_1State.html#a8649d015f093240ff54d8767c7d7a474">id</a>;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#a14df41784f1af014707d1f90048538e1">   45</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structDMP_1_1State.html#a14df41784f1af014707d1f90048538e1">x</a>, y, z = 0;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#a828eabff7751808abf44408795382117">   47</a></span>&#160;    <span class="keywordtype">int</span> parentId = -1;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#a514c33f8c6217df11b845802e03bbc51">   50</a></span>&#160;    priorityQueue::handle_type <a class="code" href="structDMP_1_1State.html#a514c33f8c6217df11b845802e03bbc51">heapkey</a>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#a8473f67ec2df299b84d492a50bf35d4a">   53</a></span>&#160;    <span class="keywordtype">double</span> g = std::numeric_limits&lt;double&gt;::infinity();</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#a293fced2f597b5e981eaaea3e3d79c66">   55</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDMP_1_1State.html#a293fced2f597b5e981eaaea3e3d79c66">h</a>;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#a86ecf4edcbe076f183e6f11eeac04bac">   57</a></span>&#160;    <span class="keywordtype">bool</span> opened = <span class="keyword">false</span>;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#acc0cec60c9f380b8ef0706548d6a23a9">   59</a></span>&#160;    <span class="keywordtype">bool</span> closed = <span class="keyword">false</span>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#ae31377baa800ebcf27a22bbd290196af">   62</a></span>&#160;    <a class="code" href="structDMP_1_1State.html#ae31377baa800ebcf27a22bbd290196af">State</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y)</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      : id(id), x(x), y(y)</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {}</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structDMP_1_1State.html#ace7ad4bd9dee9bf16c9c288ba84f0023">   67</a></span>&#160;    <a class="code" href="structDMP_1_1State.html#ace7ad4bd9dee9bf16c9c288ba84f0023">State</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z)</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      : id(id), x(x), y(y), z(z)</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    {}</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  };</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classDMP_1_1GraphSearch.html">   79</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classDMP_1_1GraphSearch.html">GraphSearch</a></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  {</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <a class="code" href="classDMP_1_1GraphSearch.html">GraphSearch</a>(<span class="keyword">const</span> int8_t* cMap, <span class="keywordtype">int</span> xDim, <span class="keywordtype">int</span> yDim, <span class="keywordtype">double</span> eps = 1, <span class="keywordtype">double</span> cweight = 0.1, <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <a class="code" href="classDMP_1_1GraphSearch.html">GraphSearch</a>(<span class="keyword">const</span> int8_t* cMap, <span class="keywordtype">int</span> xDim, <span class="keywordtype">int</span> yDim, <span class="keywordtype">int</span> zDim, <span class="keywordtype">double</span> eps = 1, <span class="keywordtype">double</span> cweight = 0.1, <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordtype">double</span> plan(<span class="keywordtype">int</span> xStart, <span class="keywordtype">int</span> yStart, <span class="keywordtype">int</span> xGoal, <span class="keywordtype">int</span> yGoal, std::vector&lt;bool&gt; in_region = std::vector&lt;bool&gt;());</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">double</span> plan(<span class="keywordtype">int</span> xStart, <span class="keywordtype">int</span> yStart, <span class="keywordtype">int</span> zStart, <span class="keywordtype">int</span> xGoal, <span class="keywordtype">int</span> yGoal, <span class="keywordtype">int</span> zGoal, std::vector&lt;bool&gt; in_region = std::vector&lt;bool&gt;());</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      std::vector&lt;StatePtr&gt; getPath() <span class="keyword">const</span>;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      std::vector&lt;StatePtr&gt; getOpenSet() <span class="keyword">const</span>;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      std::vector&lt;StatePtr&gt; getCloseSet() <span class="keyword">const</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      std::vector&lt;StatePtr&gt; getAllSet() <span class="keyword">const</span>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordtype">double</span> plan(StatePtr&amp; currNode_ptr, <span class="keywordtype">int</span> start_id, <span class="keywordtype">int</span> goal_id);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">void</span> getSucc(<span class="keyword">const</span> StatePtr&amp; curr, std::vector&lt;int&gt;&amp; succ_ids, std::vector&lt;double&gt;&amp; succ_costs);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      std::vector&lt;StatePtr&gt; recoverPath(StatePtr node, <span class="keywordtype">int</span> <span class="keywordtype">id</span>);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">int</span> coordToId(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordtype">int</span> coordToId(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z) <span class="keyword">const</span>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordtype">bool</span> isFree(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordtype">bool</span> isFree(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z) <span class="keyword">const</span>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keywordtype">double</span> getHeur(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">double</span> getHeur(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z) <span class="keyword">const</span>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">const</span> int8_t* cMap_;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordtype">int</span> xDim_, yDim_, zDim_;</div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classDMP_1_1GraphSearch.html#ae0368a2e01d21a848225556ed2a36961">  171</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classDMP_1_1GraphSearch.html#ae0368a2e01d21a848225556ed2a36961">eps_</a>;</div><div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classDMP_1_1GraphSearch.html#a3d0bb6df54bec79212e12052a9d078a4">  173</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classDMP_1_1GraphSearch.html#a3d0bb6df54bec79212e12052a9d078a4">cweight_</a>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">bool</span> verbose_;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">const</span> int8_t val_free_ = 0;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">const</span> int8_t val_occ_ = 100;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordtype">int</span> xGoal_, yGoal_, zGoal_;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordtype">bool</span> use_2d_;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">bool</span> global_;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      priorityQueue pq_;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      std::vector&lt;StatePtr&gt; hm_;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      std::vector&lt;bool&gt; seen_;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      std::vector&lt;bool&gt; in_region_;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      std::vector&lt;StatePtr&gt; path_;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      std::vector&lt;std::vector&lt;int&gt;&gt; ns_;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; };</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classDMP_1_1GraphSearch_html"><div class="ttname"><a href="classDMP_1_1GraphSearch.html">DMP::GraphSearch</a></div><div class="ttdoc">GraphSearch class. </div><div class="ttdef"><b>Definition:</b> graph_search.h:79</div></div>
<div class="ttc" id="structDMP_1_1State_html_a293fced2f597b5e981eaaea3e3d79c66"><div class="ttname"><a href="structDMP_1_1State.html#a293fced2f597b5e981eaaea3e3d79c66">DMP::State::h</a></div><div class="ttdeci">double h</div><div class="ttdoc">heuristic cost </div><div class="ttdef"><b>Definition:</b> graph_search.h:55</div></div>
<div class="ttc" id="structDMP_1_1State_html_a514c33f8c6217df11b845802e03bbc51"><div class="ttname"><a href="structDMP_1_1State.html#a514c33f8c6217df11b845802e03bbc51">DMP::State::heapkey</a></div><div class="ttdeci">priorityQueue::handle_type heapkey</div><div class="ttdoc">pointer to heap location </div><div class="ttdef"><b>Definition:</b> graph_search.h:50</div></div>
<div class="ttc" id="classDMP_1_1GraphSearch_html_ae0368a2e01d21a848225556ed2a36961"><div class="ttname"><a href="classDMP_1_1GraphSearch.html#ae0368a2e01d21a848225556ed2a36961">DMP::GraphSearch::eps_</a></div><div class="ttdeci">double eps_</div><div class="ttdoc">weight of heuristic </div><div class="ttdef"><b>Definition:</b> graph_search.h:171</div></div>
<div class="ttc" id="structDMP_1_1State_html_a14df41784f1af014707d1f90048538e1"><div class="ttname"><a href="structDMP_1_1State.html#a14df41784f1af014707d1f90048538e1">DMP::State::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">Coord. </div><div class="ttdef"><b>Definition:</b> graph_search.h:45</div></div>
<div class="ttc" id="namespaceDMP_html"><div class="ttname"><a href="namespaceDMP.html">DMP</a></div><div class="ttdef"><b>Definition:</b> graph_search.h:15</div></div>
<div class="ttc" id="structDMP_1_1State_html"><div class="ttname"><a href="structDMP_1_1State.html">DMP::State</a></div><div class="ttdoc">Node of the graph in graph search. </div><div class="ttdef"><b>Definition:</b> graph_search.h:40</div></div>
<div class="ttc" id="structDMP_1_1State_html_ace7ad4bd9dee9bf16c9c288ba84f0023"><div class="ttname"><a href="structDMP_1_1State.html#ace7ad4bd9dee9bf16c9c288ba84f0023">DMP::State::State</a></div><div class="ttdeci">State(int id, int x, int y, int z)</div><div class="ttdoc">3D constructor </div><div class="ttdef"><b>Definition:</b> graph_search.h:67</div></div>
<div class="ttc" id="classDMP_1_1GraphSearch_html_a3d0bb6df54bec79212e12052a9d078a4"><div class="ttname"><a href="classDMP_1_1GraphSearch.html#a3d0bb6df54bec79212e12052a9d078a4">DMP::GraphSearch::cweight_</a></div><div class="ttdeci">double cweight_</div><div class="ttdoc">weight of distance map </div><div class="ttdef"><b>Definition:</b> graph_search.h:173</div></div>
<div class="ttc" id="structDMP_1_1compare__state_html"><div class="ttname"><a href="structDMP_1_1compare__state.html">DMP::compare_state</a></div><div class="ttdoc">Heap element comparison. </div><div class="ttdef"><b>Definition:</b> graph_search.h:19</div></div>
<div class="ttc" id="structDMP_1_1State_html_a8649d015f093240ff54d8767c7d7a474"><div class="ttname"><a href="structDMP_1_1State.html#a8649d015f093240ff54d8767c7d7a474">DMP::State::id</a></div><div class="ttdeci">int id</div><div class="ttdoc">ID. </div><div class="ttdef"><b>Definition:</b> graph_search.h:43</div></div>
<div class="ttc" id="structDMP_1_1State_html_ae31377baa800ebcf27a22bbd290196af"><div class="ttname"><a href="structDMP_1_1State.html#ae31377baa800ebcf27a22bbd290196af">DMP::State::State</a></div><div class="ttdeci">State(int id, int x, int y)</div><div class="ttdoc">2D constructor </div><div class="ttdef"><b>Definition:</b> graph_search.h:62</div></div>
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